智能车辆导航控制器参数选取与鲁棒性分析

Parameter Choice and Robustness Analysis of Intelligent Vehicle Steering Controller

建立车辆转向动力学模型,运用滑模变结构控制理论设计了变结构控制器,由于控制器中参数的选取对控 制器的品质起关键作用,本文介绍系统切换超平面和控制器中其它参数的选取方法。通过仿真和实验验证了控制 器对于模型中时变和不确定参数具有很好鲁棒性,使车辆导航具有良好的跟踪性能。

We establish a linear model of the vehicle driving system and use the variable structure control theory to build a vehicle steering controller. Because parameter choice of a controller is a key to the quality of the controller, we present the choice method of switching hyperplane and other parameters of the controller. Simulation and experiment indicate that the controller has good robustness for the time-varying and uncertain parameters of the model, and the steering controller has favorable tracking capability.